MRPT  1.9.9
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mrpt::hmtslam::CHMTSLAM::TMessageLSLAMfromTBI Struct Reference

Detailed Description

Message definition:

Definition at line 127 of file CHMTSLAM.h.

#include <mrpt/hmtslam/CHMTSLAM.h>

Classes

struct  TBI_info
 

Public Types

using Ptr = std::shared_ptr< TMessageLSLAMfromTBI >
 

Public Attributes

THypothesisID hypothesisID
 The hypothesis ID (LMH) for these results. More...
 
CHMHMapNode::TNodeID cur_area
 The area for who the loop-closure has been computed. More...
 
std::map< CHMHMapNode::TNodeID, TBI_infoloopClosureData
 The meat is here: only feasible loop closures from "cur_area" are included here, with associated data. More...
 

Member Typedef Documentation

◆ Ptr

Definition at line 129 of file CHMTSLAM.h.

Member Data Documentation

◆ cur_area

CHMHMapNode::TNodeID mrpt::hmtslam::CHMTSLAM::TMessageLSLAMfromTBI::cur_area

The area for who the loop-closure has been computed.

Definition at line 134 of file CHMTSLAM.h.

Referenced by mrpt::hmtslam::CHMTSLAM::LSLAM_process_message_from_TBI().

◆ hypothesisID

THypothesisID mrpt::hmtslam::CHMTSLAM::TMessageLSLAMfromTBI::hypothesisID

The hypothesis ID (LMH) for these results.

Definition at line 131 of file CHMTSLAM.h.

Referenced by mrpt::hmtslam::CHMTSLAM::LSLAM_process_message_from_TBI().

◆ loopClosureData

std::map<CHMHMapNode::TNodeID, TBI_info> mrpt::hmtslam::CHMTSLAM::TMessageLSLAMfromTBI::loopClosureData

The meat is here: only feasible loop closures from "cur_area" are included here, with associated data.

Definition at line 153 of file CHMTSLAM.h.

Referenced by mrpt::hmtslam::CHMTSLAM::LSLAM_process_message_from_TBI().




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